version: 66.04
glider: 160
mission: 1
dive: 18
start: 12 4 108 7 34 35
data:
$ID,160
$MISSION,1
$DIVE,18
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,90
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,620
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5249.6802
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2555
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3589
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.342426
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004341932
$SEABIRD_T_H,0.00063318753
$SEABIRD_T_I,2.3343002e-05
$SEABIRD_T_J,2.4016158e-06
$SEABIRD_C_G,-9.9320574
$SEABIRD_C_H,1.1090317
$SEABIRD_C_I,-0.00091700396
$SEABIRD_C_J,0.00016420601
$GPS1,072921,4805.898,-12221.955,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-65.8
$GPS2,073357,4805.864,-12221.941,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,0.115
$KALMAN_X,-827.0,-41.4,-35.7,2903.1,135.1
$KALMAN_Y,2263.3,18.0,227.1,-7009.6,63.9
$MHEAD_RNG_PITCHd_Wd,293.4,262,-27.2,-10.000
$D_GRID,108
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.99,-63.1,0.0,0.0,0,84,0.00,0.00,-70.30,0.000,2,0.000,0.000,148,2308,2888
$GC,85,-1.03,-97.8,3.1,-2.9,13,134,8.30,2.33,-34.50,0.000,4,0.247,0.085,2213,3704,3962
$GC,271,-1.03,-97.8,25.2,-14.6,48,278,0.00,2.25,0.00,0.000,6,0.000,0.050,2213,2305,3961
$GC,340,-1.03,-97.8,36.0,-16.5,61,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2303,3962
$GC,404,-1.03,-97.8,46.8,-17.2,73,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2303,3962
$GC,533,-1.03,-97.8,69.9,-17.7,97,539,0.00,2.28,0.00,0.000,4,0.000,0.055,2213,892,3962
$GC,644,-1.03,-97.8,90.5,-18.2,118,651,0.00,2.25,0.00,0.000,6,0.000,0.058,2213,2285,3962
$STATE,750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,750,begin apogee
$GC,753,-0.17,0.0,108.6,16.4,138,827,0.93,0.00,67.72,0.722,6,0.170,0.000,2493,2185,3589
$STATE,827,end apogee,CONTROL_FINISHED_OK
$STATE,827,begin climb
$GC,828,1.03,97.8,111.6,0.0,152,908,1.12,0.00,74.28,0.692,6,0.087,0.000,2879,2185,3190
$GC,1034,1.03,97.8,81.7,17.2,191,1041,0.00,2.40,0.00,0.000,4,0.000,0.061,2878,3614,3189
$GC,1097,1.03,97.8,69.5,19.3,203,1105,0.00,2.28,0.00,0.000,6,0.000,0.045,2889,2208,3189
$GC,1231,1.03,97.8,46.1,16.7,228,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2208,3189
$GC,1359,1.03,97.8,25.0,16.9,252,1366,0.00,2.28,0.00,0.000,4,0.000,0.057,2889,3609,3189
$GC,1412,1.03,97.8,16.0,17.5,262,1419,0.00,2.20,0.00,0.000,6,0.000,0.040,2898,2198,3189
$GC,1481,1.03,97.8,6.3,12.3,275,1488,0.00,2.30,0.00,0.000,4,0.000,0.056,2898,3617,3188
$GC,1497,1.04,107.9,5.0,8.9,278,1510,0.00,2.22,8.77,0.579,6,0.000,0.040,2908,2200,3149
$GC,1572,1.16,208.1,5.9,-0.6,292,1653,0.00,2.35,73.45,0.644,4,0.000,0.051,2918,794,2739
$STATE,1752,end climb,SURFACE_DEPTH_REACHED
$STATE,1752,begin surface coast
$FINISH,4.2,1.216049
$STATE,1800,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1800,begin surface
$SM_CCo,1802,424.48,0.612,0,0,490,760.18
$SM_GC,1.69,7.78,0.00,0.00,0.054,0.000,0.000,151,2302,485,-7.46,0.06,761.41
$IRIDIUM_FIX,4748.51,-12224.57,280298,060632
$TT8_MAMPS,0.051389
$HUMID,1539
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,19.60
$XPDR_PINGS,3
$24V_AH,24.3,2.365
$10V_AH,10.7,1.020
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.125,27.850,224.225,424.475,0.000,25.908,31.914,156.902,0.750,0.000,0.000,13.574,0.000,989.332,736.449,621.019,260.833,33.336,1039.562,0.000,493.634,0.000,0.535,0.000
$DEVICE_MAMPS,246.974,85.137,721.747,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,222.765,181.000,255.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12796,335
$CAP_FILE_SIZE,39202,0
$CFSIZE,260165632,258150400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,041208,081350,4805.904,-12222.077,7,1.5,7,18.3